added files for settings and other ideas

ZGZ/include/dataAssociation.hpp

@@ -0,0 +1,111 @@
+/*
+ * dataAssociation.hpp
+ *
+ *  Created on: Apr 8, 2011
+ *      Author: yasir
+ */
+
+#ifndef DATAASSOCIATION_HPP_
+#define DATAASSOCIATION_HPP_
+
+#include <ZGZ.hpp>
+
+using namespace Eigen;
+using namespace cv;
+
+/*
+template <typename T, dataAssocation_t method>
+class dataAssociator{
+private:
+	dataAssociation_t _method;
+public:
+
+	dataAssociator(){
+		_method = method;
+	}
+
+	dataAssociation_t getAssociationMethod()
+	{
+		return _method;
+	}
+
+
+	 *
+	 * @param prediction for NN,JCBB contains prediction of points for FM, NED contains
+	 * @param observations
+	 * @return
+
+	T Hypothesis(MatrixXf& prediction, MatrixXf& observations)
+	{
+
+	}
+
+
+};
+
+typedef dataAssociator< Eigen::Matrix<float,Dynamic,2>, dataAssociation_t::NN > NN;
+typedef dataAssociator< Eigen::Matrix<float,Dynamic,2>, dataAssociation_t::JCBB > JCBB;
+typedef dataAssociator< Eigen::Matrix<float,Dynamic,1>, dataAssociation_t::FM > FundamentalMatrix;
+typedef dataAssociator< Eigen::Matrix<float,Dynamic,1>, dataAssociation_t::NED > NED;
+
+*/
+
+
+//template <dataAssociation_t(NED)>
+std::vector<int> Hypothesis(MatrixXf& Errors, int Nbins) //!< Error is a 2Nx1 Vector of residuals Errors
+{
+
+	int rows = Errors.rows();
+	int cols = Errors.cols();
+
+	std::vector<int> H(rows/2,0);
+
+	MatrixXf ErrorOrientations = MatrixXf(rows/2,cols);
+
+	Vector2f E ;
+
+	std::vector<int> V(Nbins,0);
+
+
+	for(int i=0;i<rows;i+=2)
+	{
+		E << Errors(i,0),Errors(i+1,0);
+		if(E.norm()> 0)
+			E.normalize();
+		else
+		{
+			E<< 0 , 1e-15;
+		}
+		double orient = atan2(E(1),E(0));
+		int index = int((orient+PI)/(2*PI)*(Nbins-1));
+		index = (index>(Nbins-1))? Nbins-1:index;
+		std::cout<<i<<" : "<<E(0)<<","<<E(1)<<"->"<<index<<" "<<"("<<orient<<")"<<std::endl;
+		V[index]++;
+		ErrorOrientations(i/2)=index;
+	}
+
+	/*
+	std::cout<<Mat(V)<<std::endl;
+	std::cout<<ErrorOrientations<<std::endl;
+	*/
+	double maxValue;
+	Point maxLoc;
+
+	minMaxLoc(Mat(V),NULL,&maxValue,NULL,&maxLoc);
+
+	//std::cout<<"Mat at "<<maxLoc.x<<","<<maxLoc.y<<std::endl;
+
+	for(int i=0 ; i<rows/2 ; i++)
+	{
+		int loc = ErrorOrientations(i)-maxLoc.y;
+		if(loc == 0 )
+			H[i]=(1);
+		else
+			H[i]=(0);
+	}
+
+	return H;
+
+}
+
+#endif /* DATAASSOCIATION_HPP_ */

ZGZ/include/settings.hpp

@@ -0,0 +1,72 @@
+/*
+ * settings.hpp
+ *
+ *  Created on: Apr 12, 2011
+ *      Author: yasir
+ */
+
+#ifndef SETTINGS_HPP_
+#define SETTINGS_HPP_
+enum DetectionMethod{
+	HarrisCorners = 0,	//!< Harris Corner Detector
+	FastCorners,		//!< FAST Corner Detector
+	SIFT,				//!< SIFT Detector (only Detector)
+	SURF,				//!< SURF Detector (only Detector)
+
+};
+
+enum AssociationMethod{
+	NN = 0,				//!< Nearest Neighbours
+	JCBB,				//!< Joint Compatibility
+	RJCBB,				//!< Randomized JCBB
+};
+
+struct TrackerSettings{
+	float linearVelocity;					//<! Variance of linearVelocity sigma-square
+	float angularVelocity;					//<! Variance of angularVelocity sigma-square
+	AssociationMethod associationMethod;
+	float w_eps;								//<! Initial error in angular Velocity
+	float v_eps;								//<! Initial error in linear Velocity
+	float measurementUncertanity;				//<! Measurement Noise (R)
+
+
+};
+
+struct DetectorSettings{
+	int maxNumFeatures;						//<! The max number of features we want;
+	DetectionMethod detectionMethod;		//<! One of DetectionMethod s
+	int thershold;							//<! Appropriate Threshold for the detector
+	int nonMaximalSuppression;				//<! nonMaximal suppression (FAST CORNERS ONLY)
+	bool gridAdapted;						//<! Divides the image into a grid and then detect?
+	int gridRows;							//<! Bins in the X directions
+	int gridCols;							//<! Bins in the Y directions
+
+};
+
+struct Settings{
+	TrackerSettings tracker;
+	DetectorSettings detector;
+};
+
+static Settings settings;
+
+static void initSettings()
+{
+	settings.tracker.angularVelocity 		= 1;
+	settings.tracker.linearVelocity 		= 1;
+	settings.tracker.associationMethod 		= NN;
+	settings.tracker.w_eps 					= 1e-15;
+	settings.tracker.v_eps 					= 0;
+	settings.tracker.measurementUncertanity = 2;
+
+	settings.detector.detectionMethod 		= FastCorners;
+	settings.detector.gridAdapted 			= true;
+	settings.detector.gridRows 				= 5;
+	settings.detector.gridCols 				= 5;
+	settings.detector.maxNumFeatures		= 1000;
+	settings.detector.nonMaximalSuppression = true;
+
+
+}
+
+#endif /* SETTINGS_HPP_ */

ZGZ/include/transformations.hpp

@@ -0,0 +1,16 @@
+/*
+ * transformations.hpp
+ *
+ *  Created on: Apr 6, 2011
+ *      Author: yasir
+ */
+
+#ifndef TRANSFORMATIONS_HPP_
+#define TRANSFORMATIONS_HPP_
+
+#include <ZGZ.hpp>
+
+using namespace Eigen;
+
+
+#endif /* TRANSFORMATIONS_HPP_ */

ZGZ/src/settings.cpp

@@ -0,0 +1,9 @@
+/*
+ * settings.cpp
+ *
+ *  Created on: Apr 12, 2011
+ *      Author: yasir
+ */
+#include <settings.hpp>
+
+

ZGZ/thingstodo.txt

@@ -0,0 +1,5 @@
+1. Restrict the search area to a predifed number of pixels
+2. Affine transformation of patches as the camera moves 
+3. (Wishful) structure for all the different settings
+4. Move Patches into its own class so that functions like transformation can be called on each
+5. Organize the code into more a logical bunch .. so tat data sharing is easy